A model of a wheeled platform that includes slipping is formulated. Slipping is modeled by adopting the LuGre friction model. This is a dynamic friction model that can reproduce realistic friction phenomena not present in static friction models. Using the backstepping approach, tracking controllers for non-slipping and slipping cases are developed and compared via simulation. The proposed control law is designed to be robust with respect to the change in system parameters such as the platform’s mass and moment inertia. Simulation results show good performance for point stabilization in specific destination postures, as well as for tracking.
Volume Subject Area:
Dynamics, Vibration and Control
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